scenario_simulator_v2 C++ API
publisher_wrapper.hpp
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1 // Copyright 2015 TIER IV, Inc. All rights reserved.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
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7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
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12 // See the License for the specific language governing permissions and
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14 
15 #ifndef CONCEALER__PUBLISHER_WRAPPER_HPP_
16 #define CONCEALER__PUBLISHER_WRAPPER_HPP_
17 
18 #include <memory>
19 #include <rclcpp/rclcpp.hpp>
20 
21 namespace concealer
22 {
23 template <typename MessageType>
25 {
26 private:
27  typename rclcpp::Publisher<MessageType>::SharedPtr publisher;
28 
29 public:
30  auto operator()(const MessageType & message) const -> decltype(auto)
31  {
32  return publisher->publish(message);
33  }
34 
35  template <typename NodeInterface>
36  explicit PublisherWrapper(std::string topic, NodeInterface & autoware_interface)
37  : publisher(
38  autoware_interface.template create_publisher<MessageType>(topic, rclcpp::QoS(1).reliable()))
39  {
40  }
41 };
42 } // namespace concealer
43 
44 #endif // CONCEALER__PUBLISHER_WRAPPER_HPP_
Definition: publisher_wrapper.hpp:25
auto operator()(const MessageType &message) const -> decltype(auto)
Definition: publisher_wrapper.hpp:30
PublisherWrapper(std::string topic, NodeInterface &autoware_interface)
Definition: publisher_wrapper.hpp:36
Definition: autoware_universe.hpp:40
std::string string
Definition: junit5.hpp:26